28027F external control through I2C - motor control

Rok Capuder

Other Parts Discussed in Thread: MOTORWARE, DRV8301, TMS320F28027F, CONTROLSUITE, BOOSTXL-DRV8301, LAUNCHXL-F28027F

Hi,

i'm using the TMS320F28027F with the DRV8301 shield. Up until now I've been testing several types of brushless motors with the MOTORWARE app, and now I want to go a step further - I would like to use I2C protocol to communicate with the launchpad and control the parameters of the motor (speed as input, torque as output). I want to use a different microcontroller to control two or three motors simultaneously.

On the Launchpad, I want to use the pins GPIO32 and GPIO33 for the I2C communication, and yes I already cut the connection betewen GPIO 16 and 32, and 17 and 33.

I'm using the motorware example proj_lab05b, and I added the i2c.c and 12c.h files

Fullscreen 5342.i2c.c Download

//#############################################################################
//
//! \file   f2802x_common/source/i2c.c
//!
//! \brief  Contains the various functions related to the inter-integrated 
//!         circuit (I2C) object
//
//  Group:          C2000
//  Target Device:  TMS320F2802x
//
//  (C) Copyright 2012, Texas Instruments, Inc.
//#############################################################################
// $TI Release: f2802x Support Library v210 $
// $Release Date: Mon Sep 17 09:13:31 CDT 2012 $
//#############################################################################

//*****************************************************************************
//! \addtogroup i2c_api
//! @{
//*****************************************************************************

#include "DSP28x_Project.h"
#include "f2802x_common/include/i2c.h"



//*****************************************************************************
//
//! \internal
//! Checks an I2C base address.
//!
//! \param spiHandle specifies the I2C module base address.
//!
//! This function determines if a I2C module base address is valid.
//!
//! \return Returns \b true if the base address is valid and \b false
//! otherwise.
//
//*****************************************************************************
#ifdef DEBUG
bool_t I2C_isHandleValid(I2C_Handle i2cHandle)
{
    return ((i2cHandle == (I2C_Handle) &I2caRegs));
}
#endif

I2C_Handle I2C_init(void *pMemory)
{
    assert(pMemory == (void *)I2CA_BASE_ADDR);
    
    I2C_Handle i2cHandle;

    // assign the handle
    i2cHandle = (I2C_Handle)pMemory;
    
    return (i2cHandle);
} // end of I2C_init() function


//Note final clock must be between 7 and 12MHz for propper I2C operation
void I2C_setupClock(I2C_Handle i2cHandle, const uint16_t preScalar, 
        const  uint16_t bitTimeLow, const uint16_t bitTimeHigh)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;
    
    i2c->I2CPSC = (preScalar - 1) & I2C_I2CPSC_IPSC_BITS;
    i2c->I2CCLKL = bitTimeLow;
    i2c->I2CCLKH = bitTimeHigh;
    
}


////*****************************************************************************
////! Initializes the I2C Master block.
////!
////! \param ulBase is the base address of the I2C Master module.
////! \param ulI2CClk is the rate of the clock supplied to the I2C module.
////! \param bFast set up for fast data transfers
////!
////! This function initializes operation of the I2C Master block.  Upon
////! successful initialization of the I2C block, this function will have set the
////! bus speed for the master, and will have enabled the I2C Master block.
////!
////! If the parameter \e bFast is \b true, then the master block will be set up
////! to transfer data at 400 kbps; otherwise, it will be set up to transfer data
////! at 100 kbps.
////!
////! The peripheral clock will be the same as the processor clock.  This will be
////! the value returned by SysCtlClockGet(), or it can be explicitly hard coded
////! if it is constant and known (to save the code/execution overhead of a call
////! to SysCtlClockGet()).
////!
////! This function replaces the original I2CMasterInit() API and performs the
////! same actions.  A macro is provided in <tt>i2c.h</tt> to map the original
////! API to this API.
////!
////! \return None.
////*****************************************************************************
//void
//I2CMasterInitExpClk(unsigned long ulBase, unsigned long ulI2CClk, 
//                    tBoolean bFast)
//{
//    unsigned long ulSCLFreq;
//    unsigned long ulTPR;
//
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_MASTER_BASE) || (ulBase == I2C1_MASTER_BASE));
//
//    // Must enable the device before doing anything else.
//    I2CMasterEnable(ulBase);
//
//    // Get the desired SCL speed.
//    if(bFast == true)
//    {
//        ulSCLFreq = 400000;
//    }
//    else
//    {
//        ulSCLFreq = 100000;
//    }
//
//    // Compute the clock divider that achieves the fastest speed less than or
//    // equal to the desired speed.  The numerator is biased to favor a larger
//    // clock divider so that the resulting clock is always less than or equal
//    // to the desired clock, never greater.
//    ulTPR = ((ulI2CClk + (2 * 10 * ulSCLFreq) - 1) / (2 * 10 * ulSCLFreq)) - 1;
//    HWREG(ulBase + I2C_O_MTPR) = ulTPR;
//}

//*****************************************************************************
//! Disable the I2C Master block.
//!
//! \param ulBase is the base address of the I2C Master module.
//!
//! This will enable operation of the I2C Master block.
//!
//! \return None.
//*****************************************************************************
void I2C_disable(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Disable the I2C peripheral
    i2c->I2CMDR &= ~I2C_I2CMDR_IRS_BIT;
}

//*****************************************************************************
//! Enables the I2C Master block.
//!
//! \param ulBase is the base address of the I2C Master module.
//!
//! This will enable operation of the I2C Master block.
//!
//! \return None.
//*****************************************************************************
void I2C_enable(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Enable the I2C peripheral
    i2c->I2CMDR |= I2C_I2CMDR_IRS_BIT;
}

//*****************************************************************************
//! Enables the I2C Master block.
//!
//! \param ulBase is the base address of the I2C Master module.
//!
//! This will enable operation of the I2C Master block.
//!
//! \return None.
//*****************************************************************************
void I2C_setMaster(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Enable the master block.
    i2c->I2CMDR |= I2C_I2CMDR_MST_BIT;
}

//*****************************************************************************
//! Enables the I2C Slave block.
//!
//! \param ulBase is the base address of the I2C Slave module.
//!
//! This will enable operation of the I2C Slave block.
//!
//! \return None.
//*****************************************************************************
void I2C_setSlave(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Enable the slave.
    i2c->I2CMDR &= ~I2C_I2CMDR_MST_BIT;
}

////*****************************************************************************
////! Disables the I2C master block.
////!
////! \param ulBase is the base address of the I2C Master module.
////!
////! This will disable operation of the I2C master block.
////!
////! \return None.
////*****************************************************************************
//void
//I2CMasterDisable(unsigned long ulBase)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_MASTER_BASE) || (ulBase == I2C1_MASTER_BASE));
//
//    // Disable the master block.
//    HWREG(ulBase + I2C_O_MCR) &= ~(I2C_MCR_MFE);
//}
//
////*****************************************************************************
////! Disables the I2C slave block.
////!
////! \param ulBase is the base address of the I2C Slave module.
////!
////! This will disable operation of the I2C slave block.
////!
////! \return None.
////*****************************************************************************
//void
//I2CSlaveDisable(unsigned long ulBase)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Disable the slave.
//    HWREG(ulBase + I2C_O_SCSR) = 0;
//
//    // Disable the clock to the slave block.
//    HWREG(ulBase - I2C0_SLAVE_BASE + I2C0_MASTER_BASE + I2C_O_MCR) &=
//        ~(I2C_MCR_SFE);
//}

////*****************************************************************************
////! Registers an interrupt handler for the I2C module.
////!
////! \param ulBase is the base address of the I2C Master module.
////! \param pfnHandler is a pointer to the function to be called when the
////! I2C interrupt occurs.
////!
////! This sets the handler to be called when an I2C interrupt occurs.  This will
////! enable the global interrupt in the interrupt controller; specific I2C
////! interrupts must be enabled via I2CMasterIntEnable() and
////! I2CSlaveIntEnable().  If necessary, it is the interrupt handler's
////! responsibility to clear the interrupt source via I2CMasterIntClear() and
////! I2CSlaveIntClear().
////!
////! \sa IntRegister() for important information about registering interrupt
////! handlers.
////!
////! \return None.
////*****************************************************************************
//void
//I2CIntRegister(unsigned long ulBase, void (*pfnHandler)(void))
//{
//    unsigned long ulInt;
//
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_MASTER_BASE) || (ulBase == I2C1_MASTER_BASE));
//
//    // Determine the interrupt number based on the I2C port.
//    ulInt = (ulBase == I2C0_MASTER_BASE) ? INT_I2C0 : INT_I2C1;
//
//    // Register the interrupt handler, returning an error if an error occurs.
//    IntRegister(ulInt, pfnHandler);
//
//    // Enable the I2C interrupt.
//    IntEnable(ulInt);
//}
//
////*****************************************************************************
////! Unregisters an interrupt handler for the I2C module.
////!
////! \param ulBase is the base address of the I2C Master module.
////!
////! This function will clear the handler to be called when an I2C interrupt
////! occurs.  This will also mask off the interrupt in the interrupt controller
////! so that the interrupt handler no longer is called.
////!
////! \sa IntRegister() for important information about registering interrupt
////! handlers.
////!
////! \return None.
////*****************************************************************************
//void
//I2CIntUnregister(unsigned long ulBase)
//{
//    unsigned long ulInt;
//
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_MASTER_BASE) || (ulBase == I2C1_MASTER_BASE));
//
//    // Determine the interrupt number based on the I2C port.
//    ulInt = (ulBase == I2C0_MASTER_BASE) ? INT_I2C0 : INT_I2C1;
//
//    // Disable the interrupt.
//    IntDisable(ulInt);
//
//    // Unregister the interrupt handler.
//    IntUnregister(ulInt);
//}

//*****************************************************************************
//! Enables the I2C interrupts
//!
//! \param ulBase is the base address of the I2C Master module.
//!
//! Enables the I2C Master interrupt source.
//!
//! \return None.
//*****************************************************************************
void I2C_enableInt(I2C_Handle i2cHandle, const I2C_IntEnable_e interrupts)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Enable interrupts
    i2c->I2CIER |= interrupts;
}

void I2C_enableFifo(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Enable the fifo
    i2c->I2CFFTX |= I2C_I2CFFTX_FFEN_BIT;
}

void I2C_clearTxFifoInt(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Clear the FIFO interrupt
    i2c->I2CFFTX |= I2C_I2CFFTX_TXFFINTCLR_BIT;
}

void I2C_clearRxFifoInt(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Clear the FIFO interrupt
    i2c->I2CFFRX |= I2C_I2CFFRX_RXFFINTCLR_BIT;
}

void I2C_disableFifo(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Disable the fifo
    i2c->I2CFFTX &= ~I2C_I2CFFTX_FFEN_BIT;
}

void I2C_resetTxFifo(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Reset the TX FIFO
    i2c->I2CFFTX |= I2C_I2CFFTX_TXFFRST_BIT;
}

void I2C_resetRxFifo(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Reset the RX FIFO
    i2c->I2CFFRX |= I2C_I2CFFRX_RXFFRST_BIT;
}

////*****************************************************************************
////! Enables the I2C Slave interrupt.
////!
////! \param ulBase is the base address of the I2C Slave module.
////!
////! Enables the I2C Slave interrupt source.
////!
////! \return None.
////*****************************************************************************
//void
//I2CSlaveIntEnable(unsigned long ulBase)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Enable the slave interrupt.
//    HWREG(ulBase + I2C_O_SIMR) |= I2C_SLAVE_INT_DATA;
//}
//
////*****************************************************************************
////! Enables individual I2C Slave interrupt sources.
////!
////! \param ulBase is the base address of the I2C Slave module.
////! \param ulIntFlags is the bit mask of the interrupt sources to be enabled.
////!
////! Enables the indicated I2C Slave interrupt sources.  Only the sources that
////! are enabled can be reflected to the processor interrupt; disabled sources
////! have no effect on the processor.
////!
////! The \e ulIntFlags parameter is the logical OR of any of the following:
////!
////! - \b I2C_SLAVE_INT_STOP - Stop condition detected interrupt
////! - \b I2C_SLAVE_INT_START - Start condition detected interrupt
////! - \b I2C_SLAVE_INT_DATA - Data interrupt
////!
////! \return None.
////*****************************************************************************
//void
//I2CSlaveIntEnableEx(unsigned long ulBase, unsigned long ulIntFlags)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Enable the slave interrupt.
//    HWREG(ulBase + I2C_O_SIMR) |= ulIntFlags;
//}

//*****************************************************************************
//! Disables the I2C Master interrupt.
//!
//! \param ulBase is the base address of the I2C Master module.
//!
//! Disables the I2C Master interrupt source.
//!
//! \return None.
//*****************************************************************************
void I2C_disableInt(I2C_Handle i2cHandle, const I2C_IntEnable_e interrupts)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Disable interrupts
    i2c->I2CIER &= ~interrupts;
}

////*****************************************************************************
////! Disables the I2C Slave interrupt.
////!
////! \param ulBase is the base address of the I2C Slave module.
////!
////! Disables the I2C Slave interrupt source.
////!
////! \return None.
////*****************************************************************************
//void
//I2CSlaveIntDisable(unsigned long ulBase)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Disable the slave interrupt.
//    HWREG(ulBase + I2C_O_SIMR) &= ~I2C_SLAVE_INT_DATA;
//}
//
////*****************************************************************************
////! Disables individual I2C Slave interrupt sources.
////!
////! \param ulBase is the base address of the I2C Slave module.
////! \param ulIntFlags is the bit mask of the interrupt sources to be disabled.
////!
////! Disables the indicated I2C Slave interrupt sources.  Only the sources that
////! are enabled can be reflected to the processor interrupt; disabled sources
////! have no effect on the processor.
////!
////! The \e ulIntFlags parameter has the same definition as the \e ulIntFlags
////! parameter to I2CSlaveIntEnableEx().
////!
////! \return None.
////*****************************************************************************
//void
//I2CSlaveIntDisableEx(unsigned long ulBase, unsigned long ulIntFlags)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Disable the slave interrupt.
//    HWREG(ulBase + I2C_O_SIMR) &= ~ulIntFlags;
//}

//*****************************************************************************
//! Gets the current I2C Master interrupt status.
//!
//! \param ulBase is the base address of the I2C Master module.
//! \param bMasked is false if the raw interrupt status is requested and
//! true if the masked interrupt status is requested.
//!
//! This returns the interrupt status for the I2C Master module.  Either the
//! raw interrupt status or the status of interrupts that are allowed to
//! reflect to the processor can be returned.
//!
//! \return The current interrupt status, returned as \b true if active
//! or \b false if not active.
//*****************************************************************************
I2C_IntSource_e I2C_getIntSource(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Return the i2c status 
    return (i2c->I2CISRC);
}

//*****************************************************************************
//! Gets the current I2C Master interrupt status.
//!
//! \param ulBase is the base address of the I2C Master module.
//! \param bMasked is false if the raw interrupt status is requested and
//! true if the masked interrupt status is requested.
//!
//! This returns the interrupt status for the I2C Master module.  Either the
//! raw interrupt status or the status of interrupts that are allowed to
//! reflect to the processor can be returned.
//!
//! \return The current interrupt status, returned as \b true if active
//! or \b false if not active.
//*****************************************************************************
I2C_Status_e I2C_getStatus(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Return the i2c status 
    return (i2c->I2CSTR);
}
//
////*****************************************************************************
////! Gets the current I2C Slave interrupt status.
////!
////! \param ulBase is the base address of the I2C Slave module.
////! \param bMasked is false if the raw interrupt status is requested and
////! true if the masked interrupt status is requested.
////!
////! This returns the interrupt status for the I2C Slave module.  Either the raw
////! interrupt status or the status of interrupts that are allowed to reflect to
////! the processor can be returned.
////!
////! \return The current interrupt status, returned as \b true if active
////! or \b false if not active.
////*****************************************************************************
//tBoolean
//I2CSlaveIntStatus(unsigned long ulBase, tBoolean bMasked)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Return either the interrupt status or the raw interrupt status as
//    // requested.
//    if(bMasked)
//    {
//        return((HWREG(ulBase + I2C_O_SMIS)) ? true : false);
//    }
//    else
//    {
//        return((HWREG(ulBase + I2C_O_SRIS)) ? true : false);
//    }
//}
//
////*****************************************************************************
////! Gets the current I2C Slave interrupt status.
////!
////! \param ulBase is the base address of the I2C Slave module.
////! \param bMasked is false if the raw interrupt status is requested and
////! true if the masked interrupt status is requested.
////!
////! This returns the interrupt status for the I2C Slave module.  Either the raw
////! interrupt status or the status of interrupts that are allowed to reflect to
////! the processor can be returned.
////!
////! \return Returns the current interrupt status, enumerated as a bit field of
////! values described in I2CSlaveIntEnableEx().
////*****************************************************************************
//unsigned long
//I2CSlaveIntStatusEx(unsigned long ulBase, tBoolean bMasked)
//{
//
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Return either the interrupt status or the raw interrupt status as
//    // requested.
//    if(bMasked)
//    {
//        return(HWREG(ulBase + I2C_O_SMIS));
//    }
//    else
//    {
//        return(HWREG(ulBase + I2C_O_SRIS));
//    }
//}

////*****************************************************************************
////! Clears I2C Master interrupt sources.
////!
////! \param ulBase is the base address of the I2C Master module.
////!
////! The I2C Master interrupt source is cleared, so that it no longer asserts.
////! This must be done in the interrupt handler to keep it from being called
////! again immediately upon exit.
////!
////! \note Because there is a write buffer in the Cortex-M3 processor, it may
////! take several clock cycles before the interrupt source is actually cleared.
////! Therefore, it is recommended that the interrupt source be cleared early in
////! the interrupt handler (as opposed to the very last action) to avoid
////! returning from the interrupt handler before the interrupt source is
////! actually cleared.  Failure to do so may result in the interrupt handler
////! being immediately reentered (because the interrupt controller still sees
////! the interrupt source asserted).
////!
////! \return None.
////*****************************************************************************
//void
//I2CMasterIntClear(unsigned long ulBase)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_MASTER_BASE) || (ulBase == I2C1_MASTER_BASE));
//
//    // Clear the I2C master interrupt source.
//    HWREG(ulBase + I2C_O_MICR) = I2C_MICR_IC;
//
//}
//
////*****************************************************************************
////! Clears I2C Slave interrupt sources.
////!
////! \param ulBase is the base address of the I2C Slave module.
////!
////! The I2C Slave interrupt source is cleared, so that it no longer asserts.
////! This must be done in the interrupt handler to keep it from being called
////! again immediately upon exit.
////!
////! \note Because there is a write buffer in the Cortex-M3 processor, it may
////! take several clock cycles before the interrupt source is actually cleared.
////! Therefore, it is recommended that the interrupt source be cleared early in
////! the interrupt handler (as opposed to the very last action) to avoid
////! returning from the interrupt handler before the interrupt source is
////! actually cleared.  Failure to do so may result in the interrupt handler
////! being immediately reentered (because the interrupt controller still sees
////! the interrupt source asserted).
////!
////! \return None.
////*****************************************************************************
//void
//I2CSlaveIntClear(unsigned long ulBase)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Clear the I2C slave interrupt source.
//    HWREG(ulBase + I2C_O_SICR) = I2C_SICR_DATAIC;
//}
//
////*****************************************************************************
////! Clears I2C Slave interrupt sources.
////!
////! \param ulBase is the base address of the I2C Slave module.
////! \param ulIntFlags is a bit mask of the interrupt sources to be cleared.
////!
////! The specified I2C Slave interrupt sources are cleared, so that they no
////! longer assert.  This must be done in the interrupt handler to keep it from
////! being called again immediately upon exit.
////!
////! The \e ulIntFlags parameter has the same definition as the \e ulIntFlags
////! parameter to I2CSlaveIntEnableEx().
////!
////! \note Because there is a write buffer in the Cortex-M3 processor, it may
////! take several clock cycles before the interrupt source is actually cleared.
////! Therefore, it is recommended that the interrupt source be cleared early in
////! the interrupt handler (as opposed to the very last action) to avoid
////! returning from the interrupt handler before the interrupt source is
////! actually cleared.  Failure to do so may result in the interrupt handler
////! being immediately reentered (because the interrupt controller still sees
////! the interrupt source asserted).
////!
////! \return None.
////*****************************************************************************
//void
//I2CSlaveIntClearEx(unsigned long ulBase, unsigned long ulIntFlags)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Clear the I2C slave interrupt source.
//    HWREG(ulBase + I2C_O_SICR) = ulIntFlags;
//}

//*****************************************************************************
//! Initializes the I2C Slave block.
//!
//! \param ulBase is the base address of the I2C Slave module.
//! \param ucSlaveAddr 7-bit slave address
//!
//! This function initializes operation of the I2C Slave block.  Upon
//! successful initialization of the I2C blocks, this function will have set
//! the slave address and have enabled the I2C Slave block.
//!
//! The parameter \e ucSlaveAddr is the value that will be compared against the
//! slave address sent by an I2C master.
//!
//! \return None.
//*****************************************************************************
void I2C_setSlaveAddress(I2C_Handle i2cHandle, const uint16_t slaveAddress)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;
    

    // Must enable the device before doing anything else.
    I2C_enableSlave(i2cHandle);

    // Set up the slave address.
    i2c->I2COAR = slaveAddress;
}

//*****************************************************************************
//! Sets the address that the I2C Master will place on the bus.
//!
//! \param ulBase is the base address of the I2C Master module.
//! \param ucSlaveAddr 7-bit slave address
//! \param bReceive flag indicating the type of communication with the slave
//!
//! This function will set the address that the I2C Master will place on the
//! bus when initiating a transaction.  When the \e bReceive parameter is set
//! to \b true, the address will indicate that the I2C Master is initiating a
//! read from the slave; otherwise the address will indicate that the I2C
//! Master is initiating a write to the slave.
//!
//! \return None.
//*****************************************************************************
void I2C_setMasterSlaveAddr(I2C_Handle i2cHandle, const uint16_t slaveAddress)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Set the address of the slave with which the master will communicate.
    i2c->I2CSAR = slaveAddress;
}

//*****************************************************************************
//! Indicates whether or not the I2C Master is busy.
//!
//! \param ulBase is the base address of the I2C Master module.
//!
//! This function returns an indication of whether or not the I2C Master is
//! busy transmitting or receiving data.
//!
//! \return Returns \b true if the I2C Master is busy; otherwise, returns
//! \b false.
//*****************************************************************************
bool_t I2C_isMasterBusy(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Return the busy status.
    if(i2c->I2CSTR & I2C_I2CSTR_BB_BITS)
    {
        return(true);
    }
    else
    {
        return(false);
    }
}

////*****************************************************************************
////! Indicates whether or not the I2C bus is busy.
////!
////! \param ulBase is the base address of the I2C Master module.
////!
////! This function returns an indication of whether or not the I2C bus is busy.
////! This function can be used in a multi-master environment to determine if
////! another master is currently using the bus.
////!
////! \return Returns \b true if the I2C bus is busy; otherwise, returns
////! \b false.
////*****************************************************************************
//tBoolean
//I2CMasterBusBusy(unsigned long ulBase)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_MASTER_BASE) || (ulBase == I2C1_MASTER_BASE));
//
//    // Return the bus busy status.
//    if(HWREG(ulBase + I2C_O_MCS) & I2C_MCS_BUSBSY)
//    {
//        return(true);
//    }
//    else
//    {
//        return(false);
//    }
//}

//*****************************************************************************
//! Controls the state of the I2C Master module.
//!
//! \param ulBase is the base address of the I2C Master module.
//! \param ulCmd command to be issued to the I2C Master module
//!
//! This function is used to control the state of the Master module send and
//! receive operations.  The \e ucCmd parameter can be one of the following
//! values:
//!
//! - \b I2C_MASTER_CMD_SINGLE_SEND
//! - \b I2C_MASTER_CMD_SINGLE_RECEIVE
//! - \b I2C_MASTER_CMD_BURST_SEND_START
//! - \b I2C_MASTER_CMD_BURST_SEND_CONT
//! - \b I2C_MASTER_CMD_BURST_SEND_FINISH
//! - \b I2C_MASTER_CMD_BURST_SEND_ERROR_STOP
//! - \b I2C_MASTER_CMD_BURST_RECEIVE_START
//! - \b I2C_MASTER_CMD_BURST_RECEIVE_CONT
//! - \b I2C_MASTER_CMD_BURST_RECEIVE_FINISH
//! - \b I2C_MASTER_CMD_BURST_RECEIVE_ERROR_STOP
//!
//! \return None.
//*****************************************************************************
void I2C_MasterControl(I2C_Handle i2cHandle, I2C_Control_e action, uint16_t bitCount, uint16_t bytes)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    assert(bitCount <= 7);
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;
    
    // Write the number of bytes to send or receive
    i2c->I2CCNT = bytes;

    // Send the command.
    i2c->I2CMDR = action | bitCount;
}

////*****************************************************************************
////! Gets the error status of the I2C Master module.
////!
////! \param ulBase is the base address of the I2C Master module.
////!
////! This function is used to obtain the error status of the Master module send
////! and receive operations.
////!
////! \return Returns the error status, as one of \b I2C_MASTER_ERR_NONE, 
////! \b I2C_MASTER_ERR_ADDR_ACK, \b I2C_MASTER_ERR_DATA_ACK, or
////! \b I2C_MASTER_ERR_ARB_LOST.
////*****************************************************************************
//unsigned long
//I2CMasterErr(unsigned long ulBase)
//{
//    unsigned long ulErr;
//
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_MASTER_BASE) || (ulBase == I2C1_MASTER_BASE));
//
//    // Get the raw error state
//    ulErr = HWREG(ulBase + I2C_O_MCS);
//
//    // If the I2C master is busy, then all the other bit are invalid, and
//    // don't have an error to report.
//    if(ulErr & I2C_MCS_BUSY)
//    {
//        return(I2C_MASTER_ERR_NONE);
//    }
//
//    // Check for errors.
//    if(ulErr & (I2C_MCS_ERROR | I2C_MCS_ARBLST))
//    {
//        return(ulErr & (I2C_MCS_ARBLST | I2C_MCS_DATACK | I2C_MCS_ADRACK));
//    }
//    else
//    {
//        return(I2C_MASTER_ERR_NONE);
//    }
//}

//*****************************************************************************
//! Transmits a byte from the I2C Master.
//!
//! \param ulBase is the base address of the I2C Master module.
//! \param ucData data to be transmitted from the I2C Master
//!
//! This function will place the supplied data into I2C Master Data Register.
//!
//! \return None.
//*****************************************************************************
void I2C_putData(I2C_Handle i2cHandle, uint16_t data)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Write the byte.
    i2c->I2CDXR = data;
}

//*****************************************************************************
//! Receives a byte that has been sent to the I2C Master.
//!
//! \param ulBase is the base address of the I2C Master module.
//!
//! This function reads a byte of data from the I2C Master Data Register.
//!
//! \return Returns the byte received from by the I2C Master, cast as an
//! unsigned long.
//*****************************************************************************
uint16_t I2C_getData(I2C_Handle i2cHandle)
{
    // Check the arguments.
    assert(I2C_isHandleValid(i2cHandle));
    
    I2C_Obj *i2c = (I2C_Obj *)i2cHandle;

    // Read the byte.
    return (i2c->I2CDRR);
}


////*****************************************************************************
////! Transmits a byte from the I2C Slave.
////!
////! \param ulBase is the base address of the I2C Slave module.
////! \param ucData data to be transmitted from the I2C Slave
////!
////! This function will place the supplied data into I2C Slave Data Register.
////!
////! \return None.
////*****************************************************************************
//void
//I2CSlaveDataPut(unsigned long ulBase, unsigned char ucData)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Write the byte.
//    HWREG(ulBase + I2C_O_SDR) = ucData;
//}
//
////*****************************************************************************
////! Receives a byte that has been sent to the I2C Slave.
////!
////! \param ulBase is the base address of the I2C Slave module.
////!
////! This function reads a byte of data from the I2C Slave Data Register.
////!
////! \return Returns the byte received from by the I2C Slave, cast as an
////! unsigned long.
////*****************************************************************************
//unsigned long
//I2CSlaveDataGet(unsigned long ulBase)
//{
//    // Check the arguments.
//    ASSERT((ulBase == I2C0_SLAVE_BASE) || (ulBase == I2C1_SLAVE_BASE));
//
//    // Read a byte.
//    return(HWREG(ulBase + I2C_O_SDR));
//}

//*****************************************************************************
// Close the Doxygen group.
//! @}
//*****************************************************************************

, 6116.i2c.h.

Now I'm stuck - i have no idea how to declare and register the pins for the I2C? Did anyone try anything similar?

Thanks!

over 11 years ago

0 Gautam Iyer over 11 years ago

Guru 192875 points

Now I'm stuck - i have no idea how to declare and register the pins for the I2C?

Do refer the sample example on i2c in controlSuite for declaring and registering the pins. Also the above i2c.c file has all functions available that can be called in your main.c

Here's the I2C GPIO config file:

Fullscreen 6505.F2802x_I2C.c Download

// TI File $Revision: /main/2 $
// Checkin $Date: December 16, 2010   11:15:00 $
//###########################################################################
//
// FILE:    DSP2802x_I2C.c
//
// TITLE:    DSP2802x I2C Initialization & Support Functions.
//
//###########################################################################
// $TI Release: f2802x Support Library v200 $
// $Release Date: Tue Jul 24 10:01:39 CDT 2012 $
//###########################################################################

#include "F2802x_Device.h"     // Headerfile Include File
#include "f2802x_common/include/F2802x_Examples.h"   // Examples Include File

//---------------------------------------------------------------------------
// InitI2C:
//---------------------------------------------------------------------------
// This function initializes the I2C to a known state.
//
void InitI2C(void)
{
    // Initialize I2C-A:

    //tbd...
}

//---------------------------------------------------------------------------
// Example: InitI2CGpio:
//---------------------------------------------------------------------------
// This function initializes GPIO pins to function as I2C pins
//
// Each GPIO pin can be configured as a GPIO pin or up to 3 different
// peripheral functional pins. By default all pins come up as GPIO
// inputs after reset.
//
// Caution:
// Only one GPIO pin should be enabled for SDAA operation.
// Only one GPIO pin shoudl be enabled for SCLA operation.
// Comment out other unwanted lines.

void InitI2CGpio()
{

   EALLOW;

/* Enable internal pull-up for the selected pins */
// Pull-ups can be enabled or disabled disabled by the user.
// This will enable the pullups for the specified pins.
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAPUD.bit.GPIO28 = 0;    // Enable pull-up for GPIO28 (SDAA)
    GpioCtrlRegs.GPAPUD.bit.GPIO29 = 0;       // Enable pull-up for GPIO29 (SCLA)

//    GpioCtrlRegs.GPBPUD.bit.GPIO32 = 0;    // Enable pull-up for GPIO32 (SDAA)
//    GpioCtrlRegs.GPBPUD.bit.GPIO33 = 0;       // Enable pull-up for GPIO33 (SCLA)

/* Set qualification for selected pins to asynch only */
// This will select asynch (no qualification) for the selected pins.
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAQSEL2.bit.GPIO28 = 3;  // Asynch input GPIO28 (SDAA)
    GpioCtrlRegs.GPAQSEL2.bit.GPIO29 = 3;  // Asynch input GPIO29 (SCLA)

//    GpioCtrlRegs.GPBQSEL1.bit.GPIO32 = 3;  // Asynch input GPIO32 (SDAA)
//  GpioCtrlRegs.GPBQSEL1.bit.GPIO33 = 3;  // Asynch input GPIO33 (SCLA)

/* Configure I2C pins using GPIO regs*/
// This specifies which of the possible GPIO pins will be I2C functional pins.
// Comment out other unwanted lines.

    GpioCtrlRegs.GPAMUX2.bit.GPIO28 = 2;   // Configure GPIO28 for SDAA operation
    GpioCtrlRegs.GPAMUX2.bit.GPIO29 = 2;   // Configure GPIO29 for SCLA operation

//    GpioCtrlRegs.GPBMUX1.bit.GPIO32 = 1;   // Configure GPIO32 for SDAA operation
//    GpioCtrlRegs.GPBMUX1.bit.GPIO33 = 1;   // Configure GPIO33 for SCLA operation

    EDIS;
}

//===========================================================================
// End of file.
//===========================================================================

Regards,

Gautam

0 ChrisClearman over 11 years ago

TI__Guru** 119580 points

You will need to have init, read, and write functions that you add to the MotorWare drv.c file and your proj_lab05b.c

There are also some i2c examples in the controlSUITE LaunchPad examples. These examples are in the same object oriented style API drivers as MotorWare, but very different from the other software in controlSUITE.

How do you like InstaSPIN-FOC?

0 Uros Puc over 11 years ago in reply to ChrisClearman

Prodigy 90 points

We included i2c.h in the main.h of the “proj_lab05b” example. Those i2c.c and i2c.h files were from controlSUITE program, located in c:\ti\controlSUITE\device_support\f2802x\v210\f2802x_common\source\ and c:\ti\controlSUITE\device_support\f2802x\v210\f2802x_common\include\.

However, when we try to build the project - without other modifications done - we get several errors:

1) unresolved symbol _I2C_isHandleValid, first referenced in ./i2c.obj

2) unresolved symbol _assert, first referenced in ./i2c.obj proj_lab05b

3) #20 identifier "I2caRegs" is undefined i2c.c /proj_lab05b

It seems that functions _I2C_isHandleValid and I2caRegs are not defined anywhere in the project.

Moreover, we have some problems on how and where to define GPIO32 and GPIO33 for I2C functionality.

The aim is to control several F28027F + BOOSTXL-DRV8301 controllers with I2C protocol. Therefore, the F28027F controllers must be configured as I2C slaves and will be controlled by an external I2C master located on third party controller. External I2C master controller will send speed data to other F28027F slaves at refresh rate of approx. 100 Hz. Slaves should than send back values of current power delivered to each of those motors.

I2C files used in this project are same as the one included in the first post.

I would really appreciate if someone with knowledge in C and C2000 would help me in achieving this functionality. Thank you in advance!

0 ChrisClearman over 11 years ago in reply to Uros Puc

TI__Guru** 119580 points

Uros,

I was going to scold you for not just using MotorWare, but when I looked I realized that I2C is not even properly included in the MotorWare release.

Here is my recommendation.

Copy the controlSUITE versions of i2c.h and .c files to

C:\ti\motorware\motorware_1_01_00_11\sw\drivers\i2c\src\32b\f28x\f2802x\

in the drv_obj.h @

C:\ti\motorware\motorware_1_01_00_11\sw\drivers\drv\boards\boostxldrv8301_revB\f28x\f2802x\src

you will need to add

#include "sw/drivers/i2c/src/32b/f28x/f2806x/i2c.h"

you should do all of your GPIO mapping to I2C, I2C intialization, etc. in the

drv.c

file at the same location.

The DRV is the interface to all peripherals.

By the way, just to really confuse you, everything DRV is being renamed to HAL (hardware abstraction layer) in the next release of MotorWare....

0 ChrisClearman over 11 years ago in reply to ChrisClearman

TI__Guru** 119580 points

oh, and you may have to an "Add files to project..." in CCS. And Link to the files, don't copy in.

0 Uros Puc over 11 years ago in reply to ChrisClearman

Prodigy 90 points

Chris,

I did what you suggested in drv_obj.h, however there is one inclusion in i2c.c

#include "DSP28x_Project.h"

which is pointing to other files from controlSUITE projects, and from there we go to even more files not included in proj_lab05… Some of those files are also in Motorware project, but with a different configuration… At the end, I really do not know what to include…

However, it looks that _I2C_isHandleValid and I2caRegs are not present in any of those files.

If you have some time, could you please look in Motorware proj_lab05b and see what we can do? Tnx for helping!

0 Uros Puc over 11 years ago in reply to Uros Puc

Prodigy 90 points

Is there anyone who successfully implemented I2C on LAUNCHXL-F28027F?

0 Trey German289 over 11 years ago in reply to Uros Puc

TI__Mastermind 22025 points

All,

The hardware I2c peripheral on the LaunchPad does in fact work. However the drivers for this peripheral are not complete in either MotorWare or controlSUITE. These were deemed a lower priority item when the LaunchPad was originally created and have never been updated since.

I have a need for I2c driver on the LP for a personal project, but I cannot commit to a timeline for developing them. I will do my best to get something out quickly though.

BR,

0 Uros Puc over 11 years ago in reply to Trey German289

Prodigy 90 points

Trey,

Thank you for this explanation!

It would be really nice to have a working I2C driver on LaunchPad platform. I will cross my fingers that you find some time in the near future.

As already said, we need some sort of external control for multiple LP’s and it seems that I2C is the only option – other ports are already occupied on 28027F LP (SPI, eCAP, UART). USB is not an option as we have an external microcontroller. Perhaps I am missing something?

Probably we will have to wait.

BR,

Uros

0 Trey German289 over 11 years ago in reply to Uros Puc

TI__Mastermind 22025 points

Uros,

No problem! If you're really in a hurry you can also use our bitfield headers to access the I2c peripheral. These combined with a thorough reading of the I2c users guide should allow you to use the peripheral for your purposes.

BR,

0 Gordon Finlay over 11 years ago in reply to Trey German289

Intellectual 375 points

Uros,

As another option rather than using the incomplete ControlSuite F28027 LaunchPad i2c driver, I humbly suggest that you should check out Michael Jordan's submission of a rewrite (just a header-style API which wraps the I2C register interface). I uploaded my own minor tweaks to his i2c rewrite effort. See the thread at http://e2e.ti.com/support/microcontrollers/c2000/f/171/t/238353.aspx.

I have been able to successfully write a driver interface our F28027 Piccolo to an RTC chip (Microchip MCP79412) by rewriting the microchip RTC code to use this i2c driver.

Hey Trey - could Michael Jordan's work in that thread be used as a head start or starting point for your work on a F28027 LaunchPad i2c driver replacement?

Cheers,

Gordon

0 Trey German289 over 11 years ago in reply to Gordon Finlay

TI__Mastermind 22025 points

Gordon,

Thats exactly what I was thinking. I had seen your post in the other thread and had come back here to tell Uros, but you beat me to it! :-)

I'll merge that code in and do some testing here.

Thanks!

0 Gordon Finlay over 11 years ago in reply to Trey German289

Intellectual 375 points

Trey,

One suggested improvement to the code that Michael and I uploaded is to add several asserts to check the arguments.

e.g.

// Check the arguments.
assert(I2C_isHandleValid(i2cHandle));

Gord

0 Gordon Finlay over 11 years ago in reply to Gordon Finlay

Intellectual 375 points

P.S. The code is missing Doxygen comment header blocks for some of the new functions as well.

0 Uros Puc over 11 years ago in reply to Gordon Finlay

Prodigy 90 points

Thanks Gordon and Trey for the help!

It the last few days we tried to implement Gordon’s code into the Motorware proj_lab05b, however it looks that there are too many differences and calls to other parts of the code, especially in i2c.h and sub calls:

#include "DSP28x_Project.h"

#include "f2802x_common/include/i2c.h"

Probably we will be unable to successfully implement I2C in LaunchPad. Therefore I hope that Trey or somebody else will have soon some spare time ;-)

BR Uros

0 Renaud Bobin over 10 years ago in reply to Uros Puc

Intellectual 420 points

Hi,

I have the same need : use of i2c to control F28027F in the proj_lab_05b.
in motorware_1_01_00_14 there is no i2c driver for the mcu.
Does someone succed to add i2c (as a slave at least) to the launchPad ?

Renaud

0 MatthewPate over 10 years ago in reply to Renaud Bobin

TI__Guru* 80600 points

Renaud,

Take a look at this thread to see if it gets you started. You can also post there since it is most recent dialogue.

Best regards,

Matthew

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28027F external control through I2C - motor control